CN109990889A - A kind of control method and device for robot of recording - Google Patents
A kind of control method and device for robot of recording Download PDFInfo
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- CN109990889A CN109990889A CN201711486259.1A CN201711486259A CN109990889A CN 109990889 A CN109990889 A CN 109990889A CN 201711486259 A CN201711486259 A CN 201711486259A CN 109990889 A CN109990889 A CN 109990889A
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- 238000000034 method Methods 0.000 title claims abstract description 56
- 230000007613 environmental effect Effects 0.000 claims abstract description 38
- 230000004807 localization Effects 0.000 claims abstract description 17
- 238000004590 computer program Methods 0.000 claims description 20
- 230000004888 barrier function Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 7
- 238000010411 cooking Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 11
- 230000006870 function Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000012491 analyte Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- SDIXRDNYIMOKSG-UHFFFAOYSA-L disodium methyl arsenate Chemical compound [Na+].[Na+].C[As]([O-])([O-])=O SDIXRDNYIMOKSG-UHFFFAOYSA-L 0.000 description 1
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- 238000012827 research and development Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B20/00—Signal processing not specific to the method of recording or reproducing; Circuits therefor
- G11B20/10—Digital recording or reproducing
- G11B20/10527—Audio or video recording; Data buffering arrangements
-
- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B20/00—Signal processing not specific to the method of recording or reproducing; Circuits therefor
- G11B20/10—Digital recording or reproducing
- G11B20/10527—Audio or video recording; Data buffering arrangements
- G11B2020/10537—Audio or video recording
- G11B2020/10546—Audio or video recording specifically adapted for audio data
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention is suitable for robotic technology field, provides a kind of control method and device of robot of recording, which includes: to obtain target position by auditory localization；Movement routine is cooked up according to current location and the target position；The recording robot, which is controlled, according to the movement routine is moved to the target position；Obtain the environmental parameter of the target position；The recording parameter of the recording robot is adjusted according to the environmental parameter；The recording robot is controlled to record according to the recording parameter.The present invention by can autonomous robot and sound pick-up outfit be combined together, solve the shortcomings that traditional sound pick-up outfit cannot move at any time, can only be fixed on some position；Recording robot can also be according to the ambient condition of target position, the various parameters of autonomous adjustment recording, so that more intelligent and interest and appeal of recording.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of control method and device for robot of recording.
Background technique
With the rapid development of recording technology, recording technology is increasingly toward intelligent development, using also more and more wide.It passes
The sound pick-up outfit of system be all it is irremovable, some position can only be fixed on or passively change position.When needs are at another
When place is recorded, needs to reinstall sound pick-up outfit or manually move original sound pick-up outfit.And reinstall recording
Equipment then undoubtedly increases cost；It is then quite not convenient manually to move original sound pick-up outfit, especially when we need in danger
When region is recorded, need artificially to enter that sound pick-up outfit is installed, it is extremely dangerous.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of control method and device of robot of recording, it is existing to solve
Traditional sound pick-up outfit is unable to autonomous in technology, can only be fixed on some position or passively change position, and cannot root
The problem of automatically adjusting recording parameter according to ambient enviroment.
The first aspect of the embodiment of the present invention provides a kind of control method of robot of recording, comprising:
Target position is obtained by auditory localization；
Movement routine is cooked up according to current location and the target position；
The recording robot, which is controlled, according to the movement routine is moved to the target position；
Obtain the environmental parameter of the target position；
The recording parameter of the recording robot is adjusted according to the environmental parameter；
The recording robot is controlled to record according to the recording parameter.
Further, described that the target position is moved to according to the movement routine control recording robot, it wraps
It includes:
The detection device that breaks the barriers detects whether to encounter barrier；
If detecting the presence of barrier, movement routine is planned again, and control institute according to the movement routine planned again
It is mobile to state recording robot, until the recording robot reaches the target position.
Further, the environmental parameter for obtaining the target position, comprising:
Detect the environmental volume of the target position.
Further, the recording parameter that the recording robot is adjusted according to the environmental parameter, comprising:
According to the size of the environmental volume, long recording time, the recording format, recording sound of the recording robot are adjusted
Size and recording quality.
Further, the recording parameter that the recording robot is set according to the environmental parameter, further includes:
The lower noise for the microphone that control is oppositely arranged with sound source, or control the microphone not being oppositely arranged with sound source
Recording shielding, wherein the surrounding scattering device of the recording robot has multiple microphones.
Further, further includes:
If receiving the recording parameter setting instruction of input, controls the recording robot and set according to the recording parameter
The recording parameter that instruction includes is set to record.
Further, if receiving the recording parameter setting instruction of input, the recording robot is controlled according to
Before the recording parameter that recording parameter setting instruction includes is recorded, further includes:
It receives and instruction is arranged by the recording parameter that user terminal or user speech input.
The second aspect of the embodiment of the present invention provides a kind of control device of robot of recording, comprising:
Target position acquiring unit, for obtaining target position by auditory localization；
Path planning unit, for cooking up movement routine according to current location and the target position；
Mobile control unit is moved to the target position for controlling the recording robot according to the movement routine
It sets；
Environmental parameter acquiring unit, for obtaining the environmental parameter of the target position；
Recording parameter adjusts unit, for adjusting the recording parameter of the recording robot according to the environmental parameter；
Recording control unit, records for controlling the recording robot according to the recording parameter
The third aspect of the embodiment of the present invention provides a kind of recording robot, comprising: memory, processor and storage
In the memory and the computer program that can run on the processor.The processor executes the computer program
Shi Shixian as described in relation to the first aspect method the step of.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, comprising: the computer can
It reads storage medium and is stored with computer program.Method as described in relation to the first aspect is realized when the computer program is executed by processor
The step of.
Existing beneficial effect is the embodiment of the present invention compared with prior art:
By can autonomous robot and sound pick-up outfit be combined together, solving traditional sound pick-up outfit cannot be with time shift
The problem of the shortcomings that moving, some position can only be fixed on.Recording robot can also be according to the ambient condition of target position, independently
Adjustment adjustment recording various parameters so that record more intelligent and interest and appeal.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation process schematic diagram of the control method of robot of recording provided in an embodiment of the present invention；
Fig. 2 is the implementation process schematic diagram of the control method of another recording robot provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of the control device of robot of recording provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of robot of recording provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It is a kind of implementation process signal of the control method of robot of recording provided in an embodiment of the present invention with reference to Fig. 1, Fig. 1
Figure, including step S101-S106.
Step S101 obtains target position by auditory localization.
Auditory localization, its purpose is to determine the direction of sound source or position.
In embodiments of the present invention, three kinds of methods can be used in auditory localization: the first is High-Resolution Spectral Estimation method, this
Kind method needs to use correlation matrix when calculating, and calculation amount is very big, less compared to positional accuracy with other methods
It is high；It is for second the steerable beam forming method of peak power output, this method is acquired using weighting function；Third
Kind is the localization method based on the sodar time difference, and this method passes to the time difference of each microphone array using sound source, then
Find out angle, so that it may determine the position of sound source in the plane, the advantages of this technology is exactly that calculation amount is smaller, for noise
Processing it is also relatively good, but be only applicable in the positioning of single sound source, it is poor for multi-acoustical locating effect.Of the invention
Any restriction is not done to the auditory localization technology that robot uses in embodiment.The position recorded as needed, robot are logical
It crosses auditory localization and obtains target position.
In an embodiment of the invention, shown recording robot includes multiple microphones, multiple microphone settings
In the surrounding of the recording robot.When the quantity of microphone is multiple, the collected voice messaging of each microphone is closed
And at an audio file, the collected audio data of each microphone is then demultiplex out, to carry out auditory localization.
Step S102 cooks up movement routine according to current location and the target position.
Path Planning Technique is a pith of mobile robot research field, and many international renowned companies are all right
It has made intensive studies, therefore the various Path Planning Techniques that have been born, and Path Planning Technique can for broad aspect
To be divided into 2 major class: global path planning technology and local Path Planning Technique, global path planning technology and local paths planning
Below this 2 major class of technology it is again each there are many branch technique.Because of the diversity of Path Planning Technique, the research and development of company, robot
Emphasis is different, and the mobile robot that thus company, robot is produced is also different.A kind of implementation of the invention
Using the robot of excellent essential company in example, it will be understood by those skilled in the art that being merely illustrative statement herein, not
It can be interpreted as to concrete restriction of the invention.
After robot obtains target position by auditory localization, robot is planned according to current location and the target position
Movement routine out, the movement routine can be the shortest optimal movement routine in path.
Step S103 controls the recording robot according to the movement routine and is moved to the target position.
Recording robot is moved according to the movement routine planned in above-mentioned steps 102, is stopped until reaching target position
Only move.If user cancels this recording command in robot movement on the way, then robot is by backtracking or stops moving
It moves or another object position is gone to according to the order of user.The embodiment of the present invention there are also another situation, if robot according to
Movement routine carry out it is mobile during encounter barrier, such case needs again to plan movement routine, this can be
It is discussed in detail in the following examples, the present embodiment, which is not done, excessively to be repeated.
Step S104 obtains the environmental parameter of the target position.
The environmental parameter for obtaining the target position, comprising: detect the environmental volume of the target position.
Since target position region there may be the presence of various noises, need to examine the environmental volume of target position
It surveys.In a kind of embodiment of the invention, the recording robot is equipped with decibel instrument, using decibel instrument to the ambient sound of target position
Amount is detected, to adjust the recording parameter of the recording robot according to testing result, obtains better recording effect.This
Field technical staff, which is appreciated that, is merely illustrative statement using the method that decibel instrument detects volume herein, can not
It is interpreted as to concrete restriction of the invention.
Step S105 adjusts the recording parameter of the recording robot according to the environmental parameter.
Optionally, the recording parameter of the recording robot is adjusted according to the environmental parameter, comprising: according to the environment
The size of volume adjusts long recording time, recording format, recording sound size and the recording quality of the recording robot.
For example, in the case where environmental volume is small, if only carrying out common recording to can choose recording format being mp3
Format, the file occupancy storage of mp3 format is small, sound quality is good, all supports to play on various players, the recording lattice of mp3 format
Formula can satisfy daily generally use.
When storing inadequate, the recording format of APE format can be used, the compression ratio of this format is far below other
Format.If the quality requirement to recording file is very high, it is also able to use the recording format of APE format, this is because APE lattice
Formula can accomplish real lossless, satisfactory compression ratio and very fast compression speed, make which give many users'
Favor, in existing lossless compression scheme, APE is a kind of format for having outstanding properties.
It records under quiet environment, if demanding to recording quality, the recording of WAV format can be used
Format.Under windows platform, based on pulse code modulation (Pulse Code Modulation, PCM) coding WAV be by
The audio format for supporting best, all audio softwares perfect can be supported, due to itself can achieve wanting for higher sound quality
It asks, therefore, WAV is also the preferred format of music editor's creation, is suitble to save SoundBreeze Clubtunes.Therefore, based on the WAV of pcm encoder
It by the format as a kind of intermediary, is frequently used among the mutual conversion of other codings, such as MP3 is converted into WMA.
Optionally, the recording parameter of the recording robot is adjusted according to the environmental parameter, further includes: control and sound source
The lower noise for the microphone being oppositely arranged, and/or control the recording shielding for the microphone not being oppositely arranged with sound source, wherein
The surrounding scattering device of the recording robot has multiple microphones.
Wherein, when the quantity of microphone is multiple, the collected voice messaging of each microphone is merged into a sound
The collected audio data of each microphone is then demultiplex out in frequency file, reduces the noise for the microphone being oppositely arranged with sound source,
And/or the recording for the microphone not being oppositely arranged with sound source is shielded, to improve signal-to-noise ratio, and emphasis record is carried out to sound source position
Sound improves recording effect.
In the case that environmental volume in target position is excessive, need to handle noise, in such a case, it is possible to
Recording sound suitably is tuned up, keep recording energy identified and is not heard.The lower noise for the microphone that control is oppositely arranged with sound source, or
The recording for the microphone that control is not oppositely arranged with sound source shields.
Single microphone noise processed, in terms of exist obvious insufficient, seriously affected voice communication matter
Amount.By the present invention in that forming array with multiple microphones, space time processing is carried out to the signal from different directions, more effectively
It realizes auditory localization and improves signal-to-noise ratio, improve recording effect significantly.
Step S106 controls the recording robot and records according to the recording parameter.
According to the recording parameter that above-mentioned steps 105 obtain, recording parameter setting instruction is generated, robot receives input
Recording parameter setting instruction, then control it is described recording robot according to the recording parameter setting instruction include recording parameter into
Row recording.
Further, the control method further include: if receiving the recording parameter setting instruction of input, described in control
Recording robot records according to the recording parameter that recording parameter setting instruction includes.By this set, if user
Robot is not needed to record automatically, user can by user terminal or user speech input recording parameter setting instruction,
Recording robot is allowed to record according to user's input recording parameter setting instruction.So that recording robot according to environment in addition to joining
Number carries out the setting of recording parameter, recording parameter can also be arranged according to the instruction of user, improve interactive and interest.
Further, if receiving the recording parameter setting instruction of input, the recording robot is controlled according to
Before the recording parameter that recording parameter setting instruction includes is recorded, further includes: receive and pass through user terminal or user speech
Instruction is arranged in the recording parameter of input.
User can be by voice input recording parameter, to generate recording parameter setting instruction；Or by being equipped with hand
The user terminal input recording parameter of machine application program, to generate recording parameter setting instruction；Or pass through recording robot
Keyboard input recording parameter, to generate recording parameter setting instruction；Or the touch-screen input recording parameter by robot, thus
Generate recording parameter setting instruction；Or the personal computer by being equipped with application program (PersonalComputer, PC) is defeated
Enter recording parameter；Or the PC by connecting server, recording parameter is sent to server, then by server according to the recording
Parameter generates recording parameter setting instruction, recording parameter setting instruction is sent to the recording robot, by recording machine
People receives.
Optionally, after the completion of recording, obtained recording file is uploaded to user terminal by robot of recording, such as mobile phone or
PC, or in recording synchronized upload to user terminal.Optionally, after the completion of recording, machine can be made according to the control instruction of user
Device people or receives the control instruction of user and carries out auditory localization again and go to target position according to the movement routine backtracking of memory
It sets or as you were.
Robot is recorded in the embodiment of the present invention by auditory localization to target position, is reached by the movement routine of planning
Target position obtains the environmental parameter of target position, and the recording parameter of the recording robot, control are arranged according to environmental parameter
The recording robot records according to the recording parameter that recording parameter setting instruction includes.The embodiment of the present invention can
The robot and sound pick-up outfit of autonomous are combined together, and solving traditional sound pick-up outfit cannot move at any time, can only be fixed on
The shortcomings that some position.Recorder device people can be made to replace people that some danger zones is gone to record.Recording robot can be with
According to the ambient condition of target position, the various parameters of autonomous adjustment position or adjustment recording, so that recording is more intelligent
Change and interest and appeal.
In above-described embodiment, if robot encounters barrier, this feelings during carrying out mobile according to movement routine
Condition needs again to plan movement routine, is another recording robot provided in an embodiment of the present invention with reference to Fig. 2, Fig. 2
Control method implementation process schematic diagram, the present embodiment controls above-described embodiment step S103 according to the movement routine
The recording robot is moved to the target position, has done specific restriction, the something in common of the present embodiment and above-described embodiment,
Details are not described herein again, only describes place unlike the embodiments above.As shown in Fig. 2, step S103 includes step S201-S202.
Step S201, the detection device that breaks the barriers, which detects, encounters barrier.
Whether there are obstacles in front of detection recording robot, is realized by placing obstacles analyte detection device, the present invention
In embodiment, obstacle detector can be contact or contactless.Recording robot uses the detection of obstacles of contact
Device expands investigative range and sensitivity by lengthening feeler arm.When recording robot bumps against the barrier of front, obstacle
The signal end of analyte detection device can return to a high level, it is possible thereby to which there is barriers in face of knowing.Contactless
What obstacle detector then limit environmental condition without.By contactless obstacle detector emit sound wave or certain
Kind of ray or infrared ray when encountering barrier, sound wave or ray or infrared ray is reflected back, and are received by sensor, at this point,
The determination of recording robot has found barrier.
One kind of the invention used in the examples is contactless obstacle detector, can be to avoid to recording machine
It is artificial at damage, prevent from recording out of control.
Further, in the embodiment of the present invention, range sensor can be applied in obstacle detector, so that record
Sound robot can not only find out the presence of barrier, can also find out the distance that distance touches barrier.It should be understood that herein
It is merely illustrative statement, can not be interpreted as to concrete restriction of the invention.
Step S202 plans movement routine again, and controls the recording robot according to the movement routine planned again
It is mobile, until the recording robot reaches the target position.
Obstacle detector detects encounter barrier after, robot according to current location and the target position again
Movement routine is cooked up, and controls the recording robot movement according to the movement routine planned again, until the recorder
Device people reaches the target position.
In the embodiment of the present invention, encountered in robot moving process barrier can automatic avoiding obstacles, plan again
Optimal movement routine out allows robot most rapidly to reach target position in the case where guaranteeing lossless security situation.
Fig. 3 is a kind of schematic diagram of the control device of robot of recording provided in an embodiment of the present invention, comprising: target position
Acquiring unit 31, path planning unit 32, mobile control unit 33, environmental parameter acquiring unit 34, recording parameter adjust unit
35, control unit 36 of recording.
Target position acquiring unit 31, for obtaining target position by auditory localization.
Path planning unit 32, for cooking up movement routine according to current location and the target position.
Mobile control unit 33 is moved to the target position for controlling the recording robot according to the movement routine
It sets.
Environmental parameter acquiring unit 34, for obtaining the environmental parameter of the target position.
Recording parameter adjusts unit 35, for adjusting the recording parameter of the recording robot according to the environmental parameter.
Recording control unit 36, records for controlling the recording robot according to the recording parameter.
In the above-described embodiments without the part for being described in detail or recording, the associated description of other embodiments may refer to.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Fig. 4 is a kind of schematic diagram for recording robot that one embodiment of the invention provides.As shown in figure 4, the embodiment
A kind of recording robot 4 includes: processor 40, memory 41 and is stored in the memory 41 and can be in the processor
The computer program 42 run on 40.The processor 40 realizes that above-mentioned each method is implemented when executing the computer program 42
Step in example, such as step 101 shown in FIG. 1 is to 106.Alternatively, when the processor 40 executes the computer program 42
Realize the function of each module/unit in above-mentioned each Installation practice, such as the function of module 31 to 36 shown in Fig. 3.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Describe the computer program 42 it is described it is a kind of recording robot 6 in implementation procedure.
A kind of recording robot 4 may include, but be not limited only to, processor 40, memory 41.Those skilled in the art
It is appreciated that Fig. 4 is only a kind of example of robot 4 of recording, the restriction to a kind of robot 4 of recording is not constituted, it can be with
Including perhaps combining certain components or different components, such as the recording robot than illustrating more or fewer components
It can also include input-output equipment, network access equipment, bus, decibel instrument or microphone, obstacle detector etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be a kind of internal storage unit of robot 4 of recording, such as a kind of recording machine
The hard disk or memory of people 4.The memory 41 is also possible to a kind of External memory equipment of robot 4 of recording, such as described one
The plug-in type hard disk being equipped in kind recording robot 4, intelligent memory card (Smart Media Card, SMC), secure digital
(Secure Digital, SD) card, flash card (Flash Card) etc..Further, the memory 41 can also both include
A kind of internal storage unit for recording robot 4 also includes External memory equipment.The memory 41 is described for storing
Other programs and data needed for computer program and a kind of recording robot.The memory 41 can be also used for temporarily
When store the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of control method for robot of recording characterized by comprising
Target position is obtained by auditory localization；
Movement routine is cooked up according to current location and the target position；
The recording robot, which is controlled, according to the movement routine is moved to the target position；
Obtain the environmental parameter of the target position；
The recording parameter of the recording robot is adjusted according to the environmental parameter；
The recording robot is controlled to record according to the recording parameter.
2. control method as described in claim 1, which is characterized in that described to control the recorder according to the movement routine
Device people is moved to the target position, comprising:
The detection device that breaks the barriers detects whether to encounter barrier；
If detecting the presence of barrier, movement routine is planned again, and control the record according to the movement routine planned again
Sound robot is mobile, until the recording robot reaches the target position.
3. control method as claimed in claim 1 or 2, which is characterized in that the environmental parameter for obtaining the target position,
Include:
Detect the environmental volume of the target position.
4. control method as claimed in claim 3, which is characterized in that described to adjust the recorder according to the environmental parameter
The recording parameter of device people, comprising:
According to the size of the environmental volume, the long recording time of the adjusting recording robot, recording format, recording sound are big
Small and recording quality.
5. control method as claimed in claim 3, which is characterized in that described that the recorder is arranged according to the environmental parameter
The recording parameter of device people, further includes:
The lower noise for the microphone that control is oppositely arranged with sound source, or control the recording for the microphone not being oppositely arranged with sound source
Shielding, wherein the surrounding scattering device of the recording robot has multiple microphones.
6. control method as described in claim 1, which is characterized in that further include:
If receiving the recording parameter setting instruction of input, controls the recording robot and referred to according to recording parameter setting
The recording parameter that order includes is recorded.
7. control method as claimed in claim 6, which is characterized in that if receiving the recording parameter setting instruction of input,
Control it is described recording robot according to the recording parameter setting instruction include recording parameter recorded before, further includes:
It receives and instruction is arranged by the recording parameter that user terminal or user speech input.
8. a kind of control device for robot of recording characterized by comprising
Target position acquiring unit, for obtaining target position by auditory localization；
Path planning unit, for cooking up movement routine according to current location and the target position；
Mobile control unit is moved to the target position for controlling the recording robot according to the movement routine；
Environmental parameter acquiring unit, for obtaining the environmental parameter of the target position；
Recording parameter adjusts unit, for adjusting the recording parameter of the recording robot according to the environmental parameter；
Recording control unit, records for controlling the recording robot according to the recording parameter.
9. a kind of recording robot, including memory, processor and storage are in the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
The step of any one of 7 the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 7 of realization the method.
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Address after: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen UBTECH Technology Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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Effective date of registration: 20231206 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |